Place some cleaning materials to swipe excess filament during hotend heat up (e.g. steel wool). Place cleaner at near edge of bed, Modify start G-Code to move hotend near cleaner, then M109 to heat up hotend, then move hotend to swipe nozzle then start modeling.

Example G-Code for CuraEngine

G1 Z22 X0 Y-75 F3000 ; move nozzle to edge
; Activate all used extruder
{IF_EXT0}M104 T0 S{TEMP0}
G92 E0 ; Reset extruder position
; Wait for all used extruders to reach temperature
{IF_EXT0}M109 T0 S{TEMP0}
G1 Z17 X0 Y-50 F2000 ; clean nozzle